MABodyStroked.cpp

/*
 *  This file is part of the AiBO+ project
 *
 *  Copyright (C) 2005-2016 Csaba Kertész (csaba.kertesz@gmail.com)
 *
 *  AiBO+ is free software; you can redistribute it and/or modify
 *  it under the terms of the GNU General Public License as published by
 *  the Free Software Foundation; either version 2 of the License, or
 *  (at your option) any later version.
 *
 *  AiBO+ is distributed in the hope that it will be useful,
 *  but WITHOUT ANY WARRANTY; without even the implied warranty of
 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
 *  GNU General Public License for more details.
 *
 *  You should have received a copy of the GNU General Public License
 *  along with this program; if not, write to the Free Software
 *  Foundation, Inc., 59 Temple Street #330, Boston, MA 02111-1307, USA.
 *
 */

#include "MABodyStroked.hpp"

#include "core/MARandomness.hpp"
#include "types/MABodyMotion.hpp"
#include "types/MAComplexIndicators.hpp"
#include "types/MAHead.hpp"
#include "types/MARobotState.hpp"
#include "types/MATorso.hpp"
#include "MABackStroked.hpp"
#include "MAChinStroked.hpp"
#include "MACrownStroked.hpp"
#include "MANumberGameMaster.hpp"

#include "MABodyLieDownFromStanding.hpp"
#include "MABodyLieDownFromSitting.hpp"
#include "MABodySitDownFromStanding.hpp"
#include "MABodySitFromLying.hpp"
#include "MABodyStandUpFromLying.hpp"
#include "MABodyStandUpFromSitting.hpp"
#include "MAWalkMaster.hpp"

MABodyStroked::MABodyStroked() : MABehavior(MCGetClassName(this), false)
{
  DesiredConnections[MCGetClassName<MABodyLieDownFromSitting>()] = -1.0;
  DesiredConnections[MCGetClassName<MABodyLieDownFromStanding>()] = -1.0;
  DesiredConnections[MCGetClassName<MABodySitDownFromStanding>()] = -1.0;
  DesiredConnections[MCGetClassName<MABodySitFromLying>()] = -1.0;
  DesiredConnections[MCGetClassName<MABodyStandUpFromLying>()] = -1.0;
  DesiredConnections[MCGetClassName<MABodyStandUpFromSitting>()] = -1.0;
  DesiredConnections[MCGetClassName<MAWalkMaster>()] = -1.0;
}


MABehavior::StimulusLevelType MABodyStroked::GetCurrentStimulus()
{
  // Don't let the body responses until the abyss detection is finished
  if (MA::RobotState->ComplexIndicators->AbyssWhileLying == -1 &&
      // Note: Abyss detection is not performed on the station yet, review this condition if
      // this behavior changes in the future.
      !MA::RobotState->BodyMotion->OnStation)
  {
    return MABehavior::NoStimulus;
  }
  if (MA::RobotState->Head->SleptAwaken < 80 || MABEHAVIOR_IS_ACTIVATED(MANumberGameMaster))
    return MABehavior::NoStimulus;
  // Chin stroking is ignored in standing posture
  if (MA::RobotState->Head->CrownStroked < 90 && MA::RobotState->Torso->BackStroked < 90 &&
      MA::RobotState->Head->ChinStroked > 90 && MA::RobotState->ComplexIndicators->IsStandingPosture)
  {
    return MABehavior::NoStimulus;
  }
  // Stroked if some sensors are stroked AND
  // none of the sensors are pressed AND
  // the body is in an appropriate pose.
  if ((MA::RobotState->Head->CrownStroked > 90 || MA::RobotState->Torso->BackStroked > 90 ||
       MA::RobotState->Head->ChinStroked > 90) &&
      (MA::RobotState->Head->CrownPressed < 50 && MA::RobotState->Torso->BackFButtonPressed < 50 &&
       MA::RobotState->Torso->BackMButtonPressed < 50 && MA::RobotState->Torso->BackRButtonPressed < 50) &&
       (MA::RobotState->BodyMotion->Lying > 80 || MA::RobotState->BodyMotion->OnStation ||
        MA::RobotState->BodyMotion->Sitting > 80 || MA::RobotState->ComplexIndicators->IsStandingPosture))
  {
    return MABehavior::OverStimulated;
  }
  return MABehavior::NoStimulus;
}


bool MABodyStroked::IsFinished()
{
  // We do not want to have immediate reactivation when stroking
  return HasActivatedStateExpired();
}


void MABodyStroked::ActivatingActions()
{
  // Creating behaviors for body responses
  if (MA::RobotState->Head->ChinStroked > 90 && !MA::RobotState->ComplexIndicators->IsStandingPosture)
    MACreateBehavior<MAChinStroked>(nullptr);
  if (MA::RobotState->Head->CrownStroked > 90)
    MACreateBehavior<MACrownStroked>(nullptr);
  if (MA::RobotState->Torso->BackStroked > 90)
    MACreateBehavior<MABackStroked>(nullptr);

  // Adding some uncertainty to the duration of the activation
  MA_RANDOM_POINT_1(TempInt, 1, 30);

  SetActivatedStateExpirationTime(2000+TempInt*100);
}